/*
  spindle_control.c - spindle control methods
  Part of Grbl

  Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2009-2011 Simen Svale Skogsrud

  Grbl is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  Grbl is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "grbl.h"

#ifdef VARIABLE_SPINDLE
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
#endif

void spindle_init()
{
#ifdef VARIABLE_SPINDLE
  pwm_gradient = SPINDLE_PWM_RANGE / (settings.rpm_max - settings.rpm_min);
#endif

  GPIO_InitTypeDef GPIO_InitStructure;
  RCC_APB2PeriphClockCmd(RCC_SPINDLE_ENABLE_PORT, ENABLE);
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
  GPIO_InitStructure.GPIO_Pin = 1 << SPINDLE_ENABLE_BIT;
#else
  GPIO_InitStructure.GPIO_Pin = 1 << SPINDLE_DIRECTION_BIT;
#endif
  GPIO_Init(SPINDLE_ENABLE_PORT, &GPIO_InitStructure);

#ifdef VARIABLE_SPINDLE
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
  TIM_TimeBaseInitTypeDef timerInitStructure;
  TIM_OCInitTypeDef outputChannelInit = {0};
  TIM_TimeBaseStructInit(&timerInitStructure);

  timerInitStructure.TIM_Prescaler = F_CPU / 1000000 - 1; // 1000
  timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
  timerInitStructure.TIM_Period = SPINDLE_PWM_MAX_VALUE - 1;
  timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  timerInitStructure.TIM_RepetitionCounter = 0;
  TIM_TimeBaseInit(TIM1, &timerInitStructure);

  outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;
  outputChannelInit.TIM_Pulse = 0; // initi speed is 0
  outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;
  outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

  TIM_OC1Init(TIM1, &outputChannelInit);
  TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
  TIM_CtrlPWMOutputs(TIM1, DISABLE);
  TIM_Cmd(TIM1, ENABLE);

  RCC_APB2PeriphClockCmd(RCC_SPINDLE_PWM_PORT, ENABLE);
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Pin = 1 << SPINDLE_PWM_BIT;
  GPIO_Init(SPINDLE_PWM_PORT, &GPIO_InitStructure);

#endif

  spindle_stop();
}

uint8_t spindle_get_state()
{
  uint8_t pin = 0;
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
  pin = GPIO_ReadInputData(SPINDLE_ENABLE_PORT);
// No spindle direction output pin.
#ifdef INVERT_SPINDLE_ENABLE_PIN
  if (bit_isfalse(pin, (1 << SPINDLE_ENABLE_BIT)))
  {
    return (SPINDLE_STATE_CW);
  }
#else
  if (bit_istrue(pin, (1 << SPINDLE_ENABLE_BIT)))
  {
    return (SPINDLE_STATE_CW);
  }
#endif
#else
  pin = GPIO_ReadInputData(SPINDLE_DIRECTION_PORT);
  if (pin & (1 << SPINDLE_DIRECTION_BIT))
  {
    return (SPINDLE_STATE_CCW);
  }
  else
  {
    return (SPINDLE_STATE_CW);
  }
#endif
#else
  pin = GPIO_ReadInputData(SPINDLE_ENABLE_PORT);
#ifdef INVERT_SPINDLE_ENABLE_PIN
  if (bit_isfalse(pin, (1 << SPINDLE_ENABLE_BIT)))
  {
#else
  if (bit_istrue(pin, (1 << SPINDLE_ENABLE_BIT)))
  {
#endif
    if (pin & (1 << SPINDLE_DIRECTION_BIT))
    {
      return (SPINDLE_STATE_CCW);
    }
    else
    {
      return (SPINDLE_STATE_CW);
    }
  }
#endif
  return (SPINDLE_STATE_DISABLE);
}

// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
void spindle_stop()
{
#ifdef VARIABLE_SPINDLE
  TIM_CtrlPWMOutputs(TIM1, DISABLE);

#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef INVERT_SPINDLE_ENABLE_PIN
  SetSpindleEnablebit();
#else
  ResetSpindleEnablebit();
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
  SetSpindleEnablebit();
#else
  ResetSpindleEnablebit();
#endif
#endif
}

#ifdef VARIABLE_SPINDLE
// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
// and stepper ISR. Keep routine small and efficient.
void spindle_set_speed(SPINDLE_PWM_TYPE pwm_value)
{
  TIM1->CCR1 = pwm_value;
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
  if (pwm_value == SPINDLE_PWM_OFF_VALUE)
  {
    spindle_stop();
  }
  else
  {
    TIM_CtrlPWMOutputs(TIM1, ENABLE);
#ifdef INVERT_SPINDLE_ENABLE_PIN
    ResetSpindleEnablebit();
#else
    SetSpindleEnablebit();
#endif
  }
#else
  if (pwm_value == SPINDLE_PWM_OFF_VALUE)
  {
    TIM_CtrlPWMOutputs(TIM1, DISABLE);
  }
  else
  {
    TIM_CtrlPWMOutputs(TIM1, ENABLE);
  }
#endif
}

#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
SPINDLE_PWM_TYPE spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
{
  SPINDLE_PWM_TYPE pwm_value;
  rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value.
                                          // Calculate PWM register value based on rpm max/min settings and programmed rpm.
  if ((settings.rpm_min >= settings.rpm_max) || (rpm >= RPM_MAX))
  {
    rpm = RPM_MAX;
    pwm_value = SPINDLE_PWM_MAX_VALUE;
  }
  else if (rpm <= RPM_MIN)
  {
    if (rpm == 0.0)
    { // S0 disables spindle
      pwm_value = SPINDLE_PWM_OFF_VALUE;
    }
    else
    {
      rpm = RPM_MIN;
      pwm_value = SPINDLE_PWM_MIN_VALUE;
    }
  }
  else
  {
    // Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model.
#if (N_PIECES > 3)
    if (rpm > RPM_POINT34)
    {
      pwm_value = floorf(RPM_LINE_A4 * rpm - RPM_LINE_B4);
    }
    else
#endif
#if (N_PIECES > 2)
        if (rpm > RPM_POINT23)
    {
      pwm_value = floorf(RPM_LINE_A3 * rpm - RPM_LINE_B3);
    }
    else
#endif
#if (N_PIECES > 1)
        if (rpm > RPM_POINT12)
    {
      pwm_value = floorf(RPM_LINE_A2 * rpm - RPM_LINE_B2);
    }
    else
#endif
    {
      pwm_value = floorf(RPM_LINE_A1 * rpm - RPM_LINE_B1);
    }
  }
  sys.spindle_speed = rpm;
  return (pwm_value);
}
#else
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
SPINDLE_PWM_TYPE spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
{
  SPINDLE_PWM_TYPE pwm_value;
  rpm *= (0.010f * sys.spindle_speed_ovr); // Scale by spindle speed override value.
                                           // Calculate PWM register value based on rpm max/min settings and programmed rpm.
  if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max))
  {
    // No PWM range possible. Set simple on/off spindle control pin state.
    sys.spindle_speed = settings.rpm_max;
    pwm_value = SPINDLE_PWM_MAX_VALUE;
  }
  else if (rpm <= settings.rpm_min)
  {
    if (rpm == 0.0f)
    { // S0 disables spindle
      sys.spindle_speed = 0.0f;
      pwm_value = SPINDLE_PWM_OFF_VALUE;
    }
    else
    { // Set minimum PWM output
      sys.spindle_speed = settings.rpm_min;
      pwm_value = SPINDLE_PWM_MIN_VALUE;
    }
  }
  else
  {
    // Compute intermediate PWM value with linear spindle speed model.
    // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
    sys.spindle_speed = rpm;
    pwm_value = (SPINDLE_PWM_TYPE)floorf((rpm - settings.rpm_min) * pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
  }
  return (pwm_value);
}
#endif
#endif

// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
// sleep, and spindle stop override.
#ifdef VARIABLE_SPINDLE
void spindle_set_state(uint8_t state, float rpm)
#else
void _spindle_set_state(uint8_t state)
#endif
{
  if (sys.abort)
  {
    return;
  } // Block during abort.
  if (state == SPINDLE_DISABLE)
  { // Halt or set spindle direction and rpm.

#ifdef VARIABLE_SPINDLE
    sys.spindle_speed = 0.0f;
#endif
    spindle_stop();
  }
  else
  {
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
    if (state == SPINDLE_ENABLE_CW)
    {
      ResetSpindleDirectionBit();
    }
    else
    {
      SetSpindleDirectionBit();
    }
#endif

#ifdef VARIABLE_SPINDLE
    // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
    if (settings.flags & BITFLAG_LASER_MODE)
    {
      if (state == SPINDLE_ENABLE_CCW)
      {
        rpm = 0.0f;
      } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
    }
    spindle_set_speed(spindle_compute_pwm_value(rpm));
#endif
#if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) &&        \
     !defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || \
    !defined(VARIABLE_SPINDLE)
// NOTE: Without variable spindle, the enable bit should just turn on or off, regardless
// if the spindle speed value is zero, as its ignored anyhow.
#ifdef INVERT_SPINDLE_ENABLE_PIN
    ResetSpindleEnablebit();
#else
    SetSpindleEnablebit();
#endif
#endif
  }

  sys.report_ovr_counter = 0; // Set to report change immediately
}

// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails
// if an abort or check-mode is active.
#ifdef VARIABLE_SPINDLE
void spindle_sync(uint8_t state, float rpm)
{
  if (sys.state == STATE_CHECK_MODE)
  {
    return;
  }
  protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
  spindle_set_state(state, rpm);
}
#else
void _spindle_sync(uint8_t state)
{
  if (sys.state == STATE_CHECK_MODE)
  {
    return;
  }
  protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
  _spindle_set_state(state);
}
#endif
